London -LRB- CNN -RRB- -- Members of the royal family , UK government and dignitaries gathered Tuesday in Westminster Abbey for a service to mark the 60th anniversary of Queen Elizabeth II 's coronation .

The queen was accompanied to the service by her husband , Prince Philip , as well as her son Prince Charles and her grandchildren , among them Princes William and Harry .

William 's pregnant wife Catherine , the Duchess of Cambridge , was also present . She is expecting their first child in July , just over two years after they were married at the abbey .

Prime Minister David Cameron gave a reading as the service began amid pomp and ceremony .

The queen acceded to the throne in 1952 , but her formal coronation took place on June 2 , 1953 .

Archbishop of Canterbury Justin Welby in his reading paid tribute to the queen 's `` 60 years of commitment '' and service since she was crowned .

The Bishop of London , the Right Rev. Richard Chartres , also hailed the queen 's `` affectionate service '' to her people in the United Kingdom and Commonwealth and `` the strength and inspiration she fosters '' there .

The music and choral works performed at Tuesday 's service reflected the choice of music for the coronation 60 years ago .

After the service , the queen and Philip stepped out into brilliant sunshine amid the tolling of bells , climbing into a glass-topped limousine for the return journey to Buckingham Palace .

Diamond Jubilee celebrations were held last year to mark the queen 's 60 years on the throne .

There have been 38 coronations at Westminster Abbey since the coronation of William the Conqueror in 1066 .

A special `` coronation chair '' ordered built by Edward I , who reigned from 1272 to 1307 , has been used for almost every coronation since the 14th century .

Queen Elizabeth II 's coronation in 1953 was the first to be televised , allowing her British subjects to watch the entire ceremony .

OPINION : Why Queen Elizabeth wo n't step down

@highlight

Members of the royal family join a service to celebrate 60 years since the coronation

@highlight

The queen acceded to the throne in 1952 , but her formal coronation took place in 1953

@highlight

Prince William and his pregnant wife Catherine are among the guests